BW SENSING BW-VG225 User manual

BW-VG225 Serials
Low Cost CAN open
Dynamic Inclination Sensor
Technical Manual

The BW-VG225 Dynamic Inclination Sensor is a low-cost inertial measurement device that
measures the attitude parameters (roll and pitch) of the motion carrier. The attitude deviation is
estimated by a 6-state Kalman filter with appropriate gain and is suitable for tilt measurement in
motion or vibration.
The BW-VG225 uses high-quality and reliable MEMS accelerometers and gyroscopes, and
guarantees measurement accuracy through algorithms. At the same time, the seal design and
strict process ensure that the product can accurately measure the roll angle and pitch angle of
the carrier under harsh environment. Through various compensations such as nonlinear
compensation, quadrature compensation, temperature compensation and drift compensation, the
error caused by interference can be greatly eliminated, and the product precision level can be
improved. The BW-VG225 has a digital interface that can be easily integrated into the user's
system.
●Nonlinear compensation, quadrature
compensation
●Dynamic static measurement
●Special offset tracking algorithm
eliminates the drift
●Gyro drift compensation
●CAN open output
●Operating temperature: -40°C~+85°C
●High performance Kalman filter
algorithm
●Small size: L60 × W59× H29(mm)
BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
●Ships
●Construction machinery
●Platform stability
●Agricultural machinery
●Special vehicles
●Unmanned driving
●Robot
●Aircraft
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Power supply
Operating current
Operating temperature
Store temperature
9-35V DC
30mA（Max40mA）
-40℃~85℃
-55℃~100℃
BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
Specifications
Electrical Specifications
Performance Specifications
Attitude parameter
Physical characteristics
Interface characteristics
Dynamic accuracy
Static accuracy
Resolution
Tilt range
Size
Weight (including cable)
Weight (including package)
Start delay
Maximum output frequency
Serial communication rate
Digital output format Binary high performance protocol
2400 to 115200 baud rate
100Hz
<50ms
360g
280g
L60 × W59× H29（mm）
Pitch ± 90º, Roll ±180º
0.01°
0.1°
1°
MTBF
Electromagnetic compatibility
Insulation resistance
Impact resistance
≥90000 hours/time
According to GBT17626
≥100 MΩ
2000g，0.5ms，3 times / axis
Resolution: The measured minimum change value that the sensor can detect and resolve within
the measurement range.
Accuracy: The error between the actual angle and the Root mean square(RMS) of the measured
angle of the sensor (≥16 times).
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
Mechanical Characteristic
Connector
Protection level
Shell material
Installation
Metal connector（standard cable is 1.5m）
IP67
Magnesium alloy anodizing
Four M4 screws
Package size
Product Size: L60*W59*H29（mm）
Bare plate product size
Product Size: L44*W35*H11（mm）,±1mm error for lengh and width dimensions, please refer to
actual size
hole Φ 2mm
23
29
33
27
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0.02°/sec
Gyro
Range
Zero instability
ARW 3.6 °/√h
50 °/h
±400°/sec
Noise density
Zero absolute error ±0.2 °/sec
0.005 °/s/√Hz
Range： X,Y,Z
Resolution 1 mg
±2 g/±3.6g
Accelerometer
Bias stability ±4 mg
Resolution

BW-VG225
Low Cost CAN open Dynamic Inclination
Sensor
the measured surface the measured surface
C D
the measured surface the measured surface
E F
AB
Secondly, the bottom cable of the sensor and the axis of the measured object shouldn't generate the
angle shown in E. When installing, the bottom cable of the sensor should be kept parallel or
orthogonal to the rotation axis of the measured object. This product can be installed horizontally or
vertically (vertical installation requires customization). The correct installation method is shown in
Figure F.
Finally, the installation surface of the sensor must be fixed with the measured surface tightly and
smoothly, to avoid measurement error that may be caused by the acceleration and vibration.
Axis A
Axis B
平行
平行
Axis A
Axis B
Installation direction
The correct installation method can avoid measurement error. The following points should be made
when installing the sensor:
First of all, to ensure that the sensor mounting surface and the measured surface completely close,
the measured surface should be as horizontal as possible, can not have the angle shown in Figure A
and Figure C, the correct installation is shown in Figure B and Figure D.
uneven surface
generates the
angle
uneven surface
generates the
angle
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
Electrical connectionss
CAN Electrical interfaces
RED
1
VCC
DC 9-35V
BLUE
2
NC
BLACK
3
GND
GREEN
4
CAN L
YELLOW
5
CAN H
Cable color
&
function
RED VCC
DC 9-35V
YELLOW CAN H
CAN L
BLACK GND
CAN open
wiring diagram
GND
Signal
acquisition
end
1
3
4
5
GREEN
Inclination
Sensor
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BW-VG225
Low Cost CAN open Dynamic Inclination
Sensor
Debug software
Users can directly download serial assistant on official website (Supports-Download). You can also use
more convenient and intuitive PC software.
BW-VG225 supporting serial debugging software can be connected to the inclinometer on the
computer for angle display. The software debugging interface is as shown in the figure below. Using
the debug software, it can conveniently display the current X-direction tilt angle, and you can also
modify and set other parameters by yourself.
Software use steps:
①
②
③
④
Connect the serial port hardware of the inclinometer correctly and connect the power supply.
Select the correct device model (select azimuth series).
Select the computer serial port and baud rate and click to connect to the serial port.
Click Start and the tilt angle of the inclinometer in the X and Y directions will be displayed on the screen.
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
Protocol
The CAN includes 8 bytes, and add 0 to it if the data byte is not enough . Sending the first byte 0x40 indicates
a write command, returning the first byte 0x40 indicates that the write was successful. The ID is the CAN
communication node number.
2)Set the CAN baud rate：
Note: The fifth byte (Baud) is 0x01, 0x02, 0x03, 0x04, 0x05, 0x06.
0x01 represents the setting baud rate of 500K bps
0x02 represents the setting baud rate of 250K bps
0x03 represents the setting baud rate of 125K bps
0x04 represents the setting baud rate of 100K bps
0x05 represents the setting baud rate of 50K bps
0x06 represents the setting baud rate of 25K bps
The default baud rate is 125K bps. After modifying the baud rate, the sensor needs to be powered on
again, and the baud rate modification can be successful. The lower the baud rate, the shorter the
communication distance. The communication distance can reach more than 1000m at 25K bps.
3)Set relative \ absolute zero
1)Modify node number：
（ID=0x01～0x7F），The default node number (ID) is 0x05
Send
Respond
CAN-ID
0x600+0x05
0x580+0xID
First
byte
0x40
0x40
Second
byte
0x10
0x10
Third
byte
0x10
0x10
Fourth
byte
0x00
0x00
Fifth
byte
ID
ID
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
Note: If the controller sends CAN-ID=0x600+0x05 (default), send data: 40 10 10 00 10 00 00 00,The sensor returns CAN-
ID=0x580+0x10 and returns data: 40 10 10 00 10 00 00 00,
The CAN-ID is 0x590 (0x580+0x10), indicating that the ID modification is successful. At this time, when sending other
naming, the CAN-ID needs to be changed to 0x610 to be successfully transmitted.
Note: The 5th byte Type is 0x00, 0x01. 0x00 means set to absolute zero, 0x01 means set to relative zero,
After setting the zero point, you need to enter the save command to set the success (the default is
absolute zero).
Send
Respond
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x20
Third
byte
0x10
Fourth
byte
0x00
Fifth
byte
Baud
Sixth
byte
0x00
Seventh
byte
0x00
Eighth
byte
0x00
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0x40
Second
byte
0x05
0x05
Third
byte
0x10
0x10
Fourth
byte
0x00
0x00
Fifth
byte
Type
0x00
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
4)Query relative\absolute zero
Note: The 5th byte Type is 0x00, 0x01. 0x00 is represented as absolute zero, and 0x01 is represented
as relative zero.
5)Store
Note: After some parameters are modified, you need to send a save command to take effect.
6)Read the X and Y axis angles
Note: The read angle command needs to be valid in the answer mode.The first, second and third bytes are the X-axis
angle; the fourth, fifth and sixth bytes are the Y-axis angle;Where S is a sign bit (0 represents a positive value, 1 represents
a negative value), XXX represents a 3-digit integer bit of the angle, and YY represents a 2-digit decimal place of the angle.
For example, the returned data is 585 00 12 34 10 12 34 00 00, which means that the X-axis angle is +12.34 degrees and
the Y-axis is -12.34 degrees.
7)Set the output frequency
Note: The fifth byte mode is 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06. 0x00 represents the answer mode,
0x01：5Hz Data Rate，0x02：10Hz Data Rate
0x03：20Hz Data Rate，0x04：25Hz Data Rate
0x05：50Hz Data Rate，0x06：100Hz Data Rate（default）
And sending other names should be recommended in the answer mode (automatic mode is the current angle of
the output axis that is not stopped, and it is easier to see the return value of other commands in the answer
mode). The 5Hz Data Rate means 5 times of automatic output per second, and so on.
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0x40
Second
byte
0x0d
0x05
Third
byte
0x10
0x10
Fourth
byte
0x00
0x00
Fifth
byte
Type
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0x40
Second
byte
0x0a
0x0a
Third
byte
0x10
0x10
Fourth
byte
0x00
0x00
Fifth
byte
0x00
0x00
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0xSX
Second
byte
0x04
0xXX
Third
byte
0x10
0xYY
Fourth
byte
0x00
0xSX
Fifth
byte
0x00
0xXX
Sixth
byte
0x00
0xYY
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0x40
Second
byte
0x0c
0x0c
Third
byte
0x10
0x10
Fourth
byte
0x00
0x00
Fifth
byte
mode
mode
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
0x00
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
8)Inclination sensor automatic output angle
Setting the sensor to the automatic mode output provides an angular output when the sensor is powered up.
The default is automatic mode.
Note: The output angle format is the same as the answer mode read X and Y axis angles.
9)Set the CAN-ID type
Note: XX is 00, 01.00 represents the standard ID (11-bit) type, and 01 represents the extended ID (27-bit) type.
The default is standard.
10)Set the standard CAN-ID address
Note: The standard CAN-ID defaults to 0X580+05 and the maximum value cannot exceed 7FF. The modification
here is 580,05 in 0X580+05 can be modified by the previous
The node number is modified. After the modification, the CAN-ID is re-powered to become 0x XHXL+0x05.
For example, if the data is sent: 605 40 71 10 00 01 23 00 00, the CAN-ID becomes 123+5=128 after power-off and
power-on.
11)Set the extended CAN-ID address
When setting the extended CAN-ID address, you need to divide the address into two segments, first send a high 16
address, and then lower the 16-bit address. When the power is turned back on, the CAN-ID becomes the changed
address (the CAN-ID received here does not need to be added with the node number). The maximum value cannot
exceed 7FFFFFF. The default is 0x 18fa0216.
ⅠSet the extended CAN-ID high 16-bit address
Note: The extended CAN-ID high 16-bit address cannot be greater than 7FF.
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0xSX
Second
byte
0x04
0xXX
Third
byte
0x10
0xYY
Fourth
byte
0x00
0xSX
Fifth
byte
0x00
0xXX
Sixth
byte
0x00
0xYY
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
Send
Respond
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x70
Third
byte
0x10
Fourth
byte
0x00
Fifth
byte
xx
Sixth
byte
0x00
Seventh
byte
0x00
Eighth
byte
0x00
Send
Respond
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x71
Third
byte
0x10
Fourth
byte
0x00
Fifth
byte
XH
Sixth
byte
XL
Seventh
byte
0x00
Eighth
byte
0x00
Send
Respond
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x72
Third
byte
0x10
Fourth
byte
0x00
Fifth
byte
XH
Sixth
byte
XL
Seventh
byte
0x00
Eighth
byte
0x00
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
ⅡSet the extended CAN-ID low 16-bit address
Note: The extended CAN-IDd low 16-bit address cannot be greater than FFFF.For example, if you send
605 40 72 10 00 01 23 00 00, 605 40 73 10 00 45 67 00 00 twice, the CAN-ID will be 01234567 after
power-off.
Send
Respond
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x73
Third
byte
0x10
Fourth
byte
0x00
Fifth
byte
XH
Sixth
byte
XL
Seventh
byte
0x00
Eighth
byte
0x00
12)Set Kalman filter parameters
Note: Set the parameter to XX.YYYY and save it automatically after setting. The parameter range is 1.0~1.5
(excluding 1.0 and 1.5).
For example: Send 605 40 80 10 00 01 00 02 00, then set the Kalman filter parameter to 1.0002 and save it
automatically.
13)Query Kalman filter parameters
For example: returning 585 00 01 00 02 00 00 00 00, the Kalman filter parameter is 1.0002.
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0x00
Second
byte
0x81
XX
Third
byte
0x10
YY
Fourth
byte
0x00
YY
Fifth
byte
0x00
0x00
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Eighth
byte
0x00
0x00
Send
Respond
CAN-ID
0x600+0x05
0x580+0x05
First
byte
0x40
0x00
Second
byte
0x80
XX
Third
byte
0x10
YY
Fourth
byte
0x00
YY
Fifth
byte
XX
0x00
Sixth
byte
YY
0x00
Seventh
byte
YY
0x00
Eighth
byte
0x00
0x00
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BW-VG225
Low Cost CAN open Dynamic Inclination Sensor
Executive standard
● Enterprise Quality System Standard: ISO9001:2008 Standard (Certificate No.:23919Q1045IROS)
● CE certification (certificate number: M.2019.103.UY1151)
● ROHS (certificate number:G 190930099)
Ordering Information
Product number Package conditionWay of communication
BW-VG225-CAN CAN IP67 Package/Metal Connector
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Wuxi Bewis Sensing Technology LLC
Address: Building 30, No. 58 Xiuxi Road, Binhu District, Wuxi City
Hotline: [phone]
Tel: [phone]
Email: [email protected]
Website: www.bwsensing.com
Low Cost CAN open
Dynamic Inclination Sensor
BW-VG225